Distance Estimation

1. Distance Estimation Ohad Eliyahoo And Ori Zakin

2. Introduction • Current range estimation techniques require use of an active device such as a laser or radar. • Drawbacks of an active approach are: • Expensive • Use in military scenarios can compromise the measurers position. • Requires dedicated hardware

3. Introduction (cont) • Our System uses 2 cameras to triangulate the object’s position, and estimate the distance between the camera plane and the object. • Advantages: • Passive, based on passive image processing. • Cheap, only requires two cameras. • Can be implemented in any system that has two cameras, by adding appropriate software. For example, a robot can use this approach to estimate distance to objects in it’s path.

4. Introduction (cont) • The approach’s main disadvantage is accuracy compared to active systems.

5. Algorithm Phases • System configuration • Supply two different images of same object • Select object for distance estimation • Identify selected object in second image using image processing • Perform calculations and return result

6. Camera’s Focal Length Camera’s Diameter System configuration

7. Angle of view Distance Congruent Area

8. Processing Userselection Supply two different images of same object Left Right

9. R D Calculations

10. Results

11. Summary • Increasing the distance between the cameras increases the accuracy of the system. • Our system measures distance on the horizontal plane only. • Our experiments were limited by out setup, a more controlled environment is needed to achieve more accurate results